KR20210011084A - Walking Auto Robot System - Google Patents

Abstract

According to the present invention, a walking automation robot system (1000) comprises: a wearing robot (1-1) which is placed at a front position of a treadmill (1-5) for reproducing a walking speed to create a walking motion, and uses the entire length of the treadmill (1-5) as a robot riding moving path; a body weight support (BWS) (1) placed on a side of the wearing robot (1-1) to perform weight compensation through force balance adjustment of a weight (23) and a harness (50); and a two-degree-of-freedom manual mechanism device (120) placed behind the wearing robot (1-1) to perform a translation motion of vertical/horizontal movement and a counterbalance. User-side improvement is allowed through space utilization improvement of a building by reducing the space occupied by the system and shortening the path of a moving distance of robot riding. Specifically, system improvement is also allowed by automation of robot length/height/width adjustment for body type suitability while using a camera/torque sensor/force sensor in training effect identification.

Description

Walking Auto Robot System {Walking Auto Robot System}

The present invention relates to a robot system for gait rehabilitation training, and in particular, to a gait automation robot system capable of reducing a space required for system operation while greatly improving accessibility to a wearable robot and operability for equipment setting.

In general, an automated walking robot system provides comprehensive support for walking training of walking trainers by combining a wearable robot, a body weight support (BWS), a treadmill, and a display.

Specifically, the wearing robot generates a walking motion with actuator power while providing mountability to the walking trainer with a detachable/installation function, and the BWS adjusts the training intensity by varying the burden load received by the walking trainer, and the tread The mill generates a walking speed according to the walking motion of the wearing robot, and the display provides a visual screen during training.

Therefore, the walking automation robot system effectively obtains a biped walking posture experience that is useful for walking training through brain plasticity by combining a wearable robot and a BWS.

Japan Special 2017-38658 (2017.02.23)

However, the existing walking automation robot system includes the following improvements.

Above all, the existing automated walking robot system not only causes inconvenience to the walking trainer due to the long movement line that approaches the worn robot from the treadmill, but also requires the movement of the wearing robot for the walking trainer for the operation of the wear, so the system operator (e.g., rehabilitation therapist) ) Is demanding excessive manual operation.

Moreover, the existing automated walking robot system needs a large space for the movement of the wearing robot tailored to the walking trainer, so it is inevitable to be installed in buildings such as hospitals where it is difficult to secure space.

As an example, Hocoma's Lokomat ^TM or P&S Mechanics' WalkBot ^TM is a walking automation robot system that is difficult to install due to the excessive inconvenience of walking trainers and system operators (e.g., rehabilitation therapists) and the space that requires movement of the wearing robot. Represent.

Accordingly, the present invention in consideration of the above points greatly improves the accessibility of the wearable robot and the operability of equipment setting while lowering the spatial occupancy of the system by concentrating the BWS/treadmill/display.In particular, the winch and weight combination added to the BWS Adjustment of walking training intensity of walking trainer using walking load compensation of the weight balance effect by weight balance effect, counter-balancing effect for upright movement of walking motion, and spring translational movement for left and right movement of walking motion A walking automation robot system that can provide big data and AI (Artificial Intelligence) utilization later by stabilizing the movement of the wearing robot using effects, setting the hip joint position by adjusting the height of the wearing robot, and learning training information and effects using various sensors. There is a purpose in providing.

The walking automation robot system of the present invention for achieving the above object includes: a walking automation robot system, a wearable robot that has joint links left and right, and generates a walking motion; A setting system for supporting the wearing robot so that the joint link is positioned toward the entrance of the treadmill that reproduces the walking speed; A training system that assists in walking motion through up/down/left/right movement so that the walking motion is continued; An additional system is included that detects and stores the walking motion as walking training data and accumulates it as training information.

In a preferred embodiment, the wearing robot is characterized in that it has a hip joint and a knee joint joint in the joint link.

In a preferred embodiment, the setting system and the training system are located opposite the inlet of the tread mill.

In a preferred embodiment, the setting system includes a robot height adjuster connected to a motion supporter frame to adjust the vertical height of the wearing robot, and the robot height adjuster converts the rotational force of the motor into a linear movement force of the ball screw rod. Lift the 1-axis frame bracket of the motion supporter frame up.

In a preferred embodiment, the setting system includes a robot withdrawal adjuster connected to the training system via the motion supporter frame to adjust the withdrawal length of the wearing robot, and the robot withdrawal adjuster is a guider block of the training system It is moved along the robot withdrawal guide of the motion supporter frame to adjust the withdrawal length of the wearing robot.

As a preferred embodiment, the training system includes a BWS that compensates for the additional weight of the harness on the harness by a weight balance effect using a combination of a winch and a weight, and the walking by vertical motion using a counter balance effect of a uniaxial elastic member made of a spring. It includes a two-axis motion supporter for assisting the walking motion through a left-right motion using the RWS for motion assistance and a left-right translation of a two-axis elastic member made of a spring.

In a preferred embodiment, the additional system includes a P-bar located on both sides of the treadmill in front of the wearing robot, a robot controller located in one side of the treadmill in front of the wearing robot, and in the front of the wearing robot. And a display positioned out of the treadmill and a camera positioned out of the treadmill in front of the wearing robot.

In a preferred embodiment, the P-bar is provided as a load supporting means, and includes a force sensor so that the strength of the load is detected.

In a preferred embodiment, the robot controller includes the display, the treadmill, the camera, the walking motion of the wearing robot, the robot height adjuster of the setting system, and the BWS of the training system so that the walking training data is detected and stored. Control the winch applied to The remote controller controls operation of the display, operation of the treadmill, operation of the camera, operation of the actuator of the wearing robot, operation of the motor of the robot height adjuster, and operation of the winch of the BWS with a wired or wireless operation signal.

The automated walking robot system of the present invention implements the following actions and effects.

First, it is possible to reduce the space occupied by the system while improving the accessibility to the wearing robot and the operability of the equipment setting by applying the operation-oriented system configuration of the arrangement of the front robot mounting method tailored to the position of the walking trainer. All the disadvantages of the equipment-oriented system configuration of the mounting arrangement (eg, Hocoma's Lokomat ^TM or P&S Mechanics' WalkBot ^TM ) are eliminated. Second, it is possible to adjust the walking training intensity with variable walking load compensation for walking trainers by adding the weight balance effect of the winch and weight combination to the BWS. Third, the RWS (Robot Weight Support), which generates the counter-balancing effect of the spring against the vertical movement of the walking motion, is linked to the wearing robot, thereby compensating the robot weight for the wearing robot and the fixed wearing robot. It improves the stability of the up and down movement of Trainee. Fourth, the 2-axis motion supporter, which generates the spring translation effect for the left and right movement of the walking motion, is linked to the wearing robot, thereby stabilizing the movement of the center of gravity of the wearing robot and improving the stability of the left and right movement of the trainee by the fixed wearing robot. Let me do it. Fifth, the height adjuster in which the height is adjusted is linked to the wearing robot, thereby facilitating the setting of the hip joint position of the wearing robot. Sixth, a variety of sensors combined with a camera/torque sensor/force sensor are linked to the system equipment to control gait training feedback, as well as to accumulate training information and effect acquisition as information, and use big data and AI (Artificial Intelligence) in the future. Can provide. Seventh, by greatly reducing the manual operation of the system user, user convenience for system operation or operation is greatly improved.

1 is an example in which the walking automation robot system according to the present invention is composed of a setting system, a training system, and an additional system, and FIG. 2 is a configuration diagram of a robot height adjuster constituting the setting system according to the present invention, and FIG. 3 is the present invention It is an example of the hip joint position setting of the wearing robot through the robot height adjuster according to, Figure 4 is a configuration and operation state of the robot withdrawal adjuster constituting the setting system according to the present invention, Figure 5 is a training system according to the present invention 6 is an example in which a two-degree of freedom manual mechanism device constituting the training system according to the present invention is composed of an RWS and a two-axis motion supporter, and FIG. 7 is an example of a layout of an RWS according to the present invention, and FIG. 8 is an operation state of the BWS according to the present invention, and FIG. 9 is a state of implementing vertical/left and right movements of the RWS and the two-axis motion supporter according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying illustrative drawings, and such embodiments are described herein as examples because those of ordinary skill in the art may be implemented in various different forms. It is not limited to this embodiment.

Referring to FIG. 1, the walking automation robot system 1000 includes a robot height adjuster (1-6)/robot withdrawal adjuster (1-8) as a setting system with a wearable robot (1-1) as a center, and a BWS (Body Weight Support) (1) / RWS (Robot Weight Support) (130) and 2-axis motion supporter (140), consisting of a two-degree of freedom manual mechanism device 120 as a training system, P-bar (1-2) / robot Controller (1-3) / display (1-4) / treadmill (1-5) / remote control (1-7) / camera (1-9) / user interface (2000) as an additional system .

In particular, the walking automation robot system 1000 is composed of a front robot mounting method arrangement in which the wearable robot 1-1 is aligned with the position of the trainee 100, so that the walking automation robot system 1000 is a rear robot mounting method arrangement. It is characterized by a walking automation robot system that eliminates all the shortcomings of Hocoma's Lokomat ^TM or P&S Mechanics' WalkBot ^TM , which have a central system configuration.

In the following, the wearing robot (1-1), the robot height adjuster (1-6), the robot withdrawal adjuster (1-8), the BWS (1), the RWS (130), the two-axis motion supporter (140) ), the P-bar (1-2), the robot controller (1-3), the display (1-4), the treadmill (1-5), the camera (1-9), etc. are located in the XYZ coordinate system When is applied, the direction in which the movement of the trainee 100 moves in the X direction is defined as the front of the wearing robot 1-1, while the opposite movement is defined as the rear of the wearing robot 1-1. That is, "front" means the direction that the trainee 100 wearing the wearing robot 1-1 looks at.

As an example, the wearing robot 1-1 has a front robot mounting method arrangement tailored to the position of the trainee 100, so that a system user (eg, a rehabilitation therapist) can manually manipulate the robot wearing operation of the trainee 100. Allows this to be minimized.

To this end, the wearing robot 1-1 is located in front of the treadmill 1-5 (that is, the X direction of the XYZ coordinates that enter and move), and the left/right RWS 130A, 130B of the RWS 130 ) And a joint link 3 connected to each of the connected support links 2, a hip joint 3A and a knee joint 3B that divide the joint link 3 into a hip joint and a knee joint. . Further, each of the hip joint 3A and the knee joint 3B is provided with an actuator operated by a remote control 1-7 for generating a walking motion, and in particular, feedback for walking training of the Trainee 100 ( feedback) can be provided with a torque sensor or encoder to be used as data.

As an example, the setting system enables a system user (eg, a rehabilitation therapist) to minimize a manual operation for the movement of the wearing robot 1-1 required for the trainee 100.

To this end, the setting system uses the robot height adjuster 1-6 to adjust the vertical height of the wearing robot 1-1 to fit the hip joint of the trainee 100, and the robot withdrawal adjuster 1-8 ), the horizontal length of the wearing robot (1-1) can be adjusted according to the position of the trainee (100).

For example, the training system enables a system user (eg, a rehabilitation therapist) to perform gait training in a state that maximizes the gait motion stability of the wearing robot 1-1 required for gait training of the trainee 100.

To this end, the training system can adjust the walking training intensity for the trainee 100 with a weight balance effect for about 0 to 80 kg of the BWS 1, and for the vertical movement of the RWS 130 The robot weight is not applied to the trainee 100 due to the counter-balancing effect, and the translational movement for the left and right movement of the two-axis motion supporter 140 provides stability of the center of gravity movement to the trainee 100. .

For example, the additional system detects the gait training process and effect accumulated as walking training information of the trainee 100 to a system user (e.g., a rehabilitation therapist) as data, and accumulates the detection data to obtain big data and AI (Artificial AI). Intelligence).

For this, the additional system uses a P-bar (1-2), a display (1-4), a treadmill (1-5), and a camera (1-9) as a trainer system, and a robot controller (1-3). ), the remote control (1-7), and the user interface 2000 are divided into user systems.

For example, the P-bar (1-2) is composed of a support frame (5) that can be held by hand and functions as a safety rod. The display 1-4 reproduces a screen under the control of the robot controller 1-3 using a monitor or TV. The treadmill 1-5 is driven by the control of the robot controller 1-3 or independently driven to generate various walking speeds. The camera 1-9 checks/records/stores the state during gait training, and provides it to the robot controller 1-3.

In particular, the P-bar (1-2) is provided with a force sensor (7), the support frame (5) of the force sensor (7) is a single-axis mounting frame (150-1) ( 2) by being positioned at the end portion fixed to the trainee 100 detects the pressure pressing the load bar 5 during gait training, and transmits it to the robot controller 1-3. In this case, a pressure sensor including a load cell is applied to the force sensor 7.

For example, the robot controller 1-3 is composed of a micro controller unit or a computer. The user interface 3000 sets and changes information (eg, a body dimension value) of the trainee 100 as an input value and provides it to the robot controller 1-3. The remote control 1-7 generates an operation signal by wired or wireless (eg, Bluetooth).

In particular, the robot controller 1-3 is used to adjust the wire tension of the BWS (1), reproduce the difference in walking speed of the trade mill (1-5), control the screen playback, control the actuator, control the height of the wearing robot and adjust the length of withdrawal, etc. A logic or program for the control is mounted, a matching map for each control target is provided, and information (eg, a body size value) of the trainee 100 is stored.

In addition, the remote control (1-7) is a winch control of the BWS (1), walking pattern change by the actuator control of the wearing robot (1-1), screen playback of the display (1-4), treadmill (1-5) Adjust the walking speed of the robot and the height of the robot height adjuster (1-6).

Meanwhile, FIGS. 2 to 4 show detailed configurations of the robot height adjuster 1-6 and the robot withdrawal adjuster 1-8 constituting the setting system.

Referring to the robot height adjuster (1-6) of FIGS. 2 and 3, the robot height adjuster (1-6) is in motion so that the wearing robot (1-1) forms the hip joint position (H) of the wearing robot in an initial state. It is connected to the one-axis mounting frame 150-1 of the supporter frame 150 and the one-axis frame bracket 153. Through this, the robot height adjuster (1-6) raises or lowers the overall height of the wearing robot (1-1) so that the wearing robot (1-1) moves to the hip joint regardless of the body size of the trainee (100). The hip joint (3A) can be positioned.

Specifically, the robot height adjuster (1-6) includes a motor (7), a belt (7A), a ball screw rod (8), a pair of guide rods (8A, 8B), an adjuster frame (9) and an indicator (9). It consists of -1).

For example, the motor 7 generates rotational power, and the belt 7A transmits the rotational force of the motor 7 to the ball screw rod 8. The ball screw rod 8 converts the rotational force into a linear movement, and raises or lowers the one-axis frame bracket 153 through the upward or downward movement of the linear movement, thereby providing the one-axis mounting frame 150-1. Make the wearing robot (1-1) rise/fall.

For example, the pair of guide rods 8A and 8B is composed of a left guide rod 8A and a right guide rod 8B positioned on both sides of the ball screw rod 8, and a single-axis mounting frame 150-1 ) And stably supports the lifting/lowering movement of the 1-axis mounting frame 150-1. The adjuster frame 9 provides a space where the motor 7, the belt 7A, the ball screw rod 8, the pair of guide rods 8A and 8B, the indicator 9-1, etc. are assembled and combined. In addition, the indicator 9-1 displays the change in the rising/falling distance of the ball screw rod 8 with LED lighting.

Therefore, the operation of the robot height adjuster 1-6 raises the one-axis mounting frame 150-1 of the motion supporter frame 150 to the wearing robot adjustment height K (see Fig. 3), and the one-axis mounting The frame 150-1 lifts the wearing robot 1-1 upward so that the hip joint 3A of the wearing robot 1-1 is in the range of the hip joint of the wearing robot at the hip joint position H of the wearing robot (see Fig. 2). h) (see Fig. 3) can go up.

As a result, the wearing robot 1-1 can always accurately set the hip joint position even in the difference in body size of the trainee 100 by setting the hip joint range h (see FIG. 3) as the hip joint setting distance.

Referring to the robot withdrawal controller 1-8 of FIG. 4, the robot withdrawal controller 1-8 includes a robot locker 4, a robot withdrawal guider 151 and a guider block 152. Through this, the robot withdrawal controller 1-8 unlocks the robot locker 4 by connecting the left/right RWS (130A, 130B) and the 1-axis mounting frame 150-1 of the motion supporter frame 150. After pulling the wearing robot (1-1) can be arranged forward toward the tray (100).

For example, the robot locker 4 moves the left RWS 130A and/or the right RWS 130B through the 1-axis mounting frame 150-1 of the motion supporter frame 150 by applying a rod or hook. Redeem. The robot withdrawal guider 151 is formed of a rectangular frame having an empty space and is provided in the 1-axis mounting frame 150-1 in the longitudinal direction. The guider block 152 protrudes from the left RWS 130A and/or the right RWS 130B and is coupled to the rectangular frame in the rectangular frame space of the robot withdrawal guide 151.

Therefore, when the system user pulls out the robot locker 4, the robot withdrawal controller 1-8 pulls the wearing robot 1-1 or the left RWS 130A and/or the right RWS 130B, The guider block 152 is pulled out along the robot withdrawal guider 151 by the pulling force.

As a result, the wearing robot 1-1 is arranged forward toward the trainee 100, and thereafter, the wearing robot 1-1 returns to the initial position by a push motion of the system user.

Meanwhile, FIGS. 5 to 7 show detailed configurations of the RWS 130 and the 2-axis motion supporter 140 of the BWS 1 and the two-degree of freedom manual mechanism device 120.

Referring to the BWS (1) of Figure 5, the BWS (1) is composed of a support frame (10-1), a winch compensation traction device (10-2) and a harness (Harness) 50. Through this, the BWS (1) has a compensation load range of about 0 to 80 kg for the additional weight of the harness applied to the harness 50 due to the Traine 100 (eg, a walking trainer), and a winch compensation traction device With the Weight Balance Effect of (10-2), it is possible to adjust the intensity of walking training by adjusting the burden load received by the trainee 100 to about 60% of the compensation load range.

For example, the support frame 10-1 has a truss structure and includes a wire roller 10A on which the winch wire 21-1 is hung. The harness 50 is connected to the harness connection end 21-1A of the winch wire 21-1 exposed from the support frame 10-1, and includes a wearing sheet that the trainee 100 can wear. . The winch compensation traction device 10-2 uses the weight balance effect of the weight 27 with a compensation load range of about 0 to 80 kg for the additional weight of the harness received by the winch wire 21-1. It compensates for the load, eliminates the manual operation of changing/fixing the weight (27) for gait training intensity control, and expands to the big data and AI (Artificial Intelligence) domains, with personal data of analysis/improvement Can be accumulated.

Specifically, the winch compensation traction device 10-2 includes a self-weight compensation winch 20, a winch motion guide 30, and a winch sensor 40.

As an example, the self-weight compensation winch 20 is an electric winch 21 that unwinds or winds the winch wire 21-1, and the winch 21 moves in a reverse direction through the winch balancer wire 23-1. With the winch balancer (23) that offsets the total weight (weight) of the winch structure, and the winch (21) with a weight connecting rod (29), the trainee (100) is ) To compensate for the additional weight of the harness applied to the harness 50 by means of a weight balance effect.

For example, the winch motion guide 30 is equipped with a main post 31 and a winch 21 in pairs to stably guide the upward movement of the winch 21 linked to the winch wire 21-1. Thus, the winch plate 33 that moves up and down together with the main post 31, the sensor plate 35 fixed to the support frame 10-1, and a sub post that stably guides the upward movement of the winch balancer 23. 37), and the sub-post 37 is composed of a side plate 39 having a fixed post bracket (37-1).

For example, the winch sensor 40 is provided on the sensor plate 35 and acts as a stopper for the upward movement of the main post 31, while limiting the upward movement state of the winch 21. -1), a position sensor 40-2 at the bottom of the winch that is provided on the sensor plate 35 and acts as a stopper against the downward movement of the main post 31 and limits the downward movement of the winch 21, infrared rays It is composed of a sensor 45 and a reflector 47, and is composed of a weight detection sensor 40-3 that detects a change in distance according to the increase in the quantity of the weight 27.

In particular, each of the upper winch position sensor 40-1 and the lower winch position sensor 40-2 is constituted by a position sensor target 41 and a photo sensor 43. The position sensor target 41 forms a straight line in the form of a rod bar, and the photo sensor 43 emits light in a vertical movement path of the position sensor target 41. In addition, the position sensor target 41 is fixed to the winch plate 33 and moves together with the winch plate 33 while the photo sensor 43 is fixed to the sensor plate 35.

Therefore, the position sensor target 41 rises up and reaches the setting winch position (b) (eg, the upper winch position sensor 40-1) or goes down to reach the training winch position (c) (eg, the bottom of the winch Position sensor (40-2)), and the photo sensor 43 reaches the setting winch position (b) (e.g., the upper position of the winch (40-1)) or reaches the training winch position (c) ( Yes, the position sensor target 41 is in a state where the light is not blocked by the position sensor target 41 until the position sensor at the bottom of the winch (40-2), and the light is moved upward to reach the setting winch position (b). The system user (e.g., rehabilitation therapist) knows that the winch 21 has moved from the initial winch position (a) to the setting winch position (b) or from the setting winch position (b) to the training winch position (c). Is recognized. In this case, the position sensor target 41 may be set to operate in reverse, such as being configured to block light from the photo sensor 43 at the initial winch position (a).

Referring to the RWS 130 and the two-axis motion supporter 140 of FIGS. 6 and 7, the RWS 130 is connected to the robot withdrawal controller 1-8 (see FIG. 4) and the wearing robot 1-1 Adjusts the withdrawal position of, and the 2-axis motion supporter 140 generates stability of the center of gravity movement by translating left and right in the opposite direction of the left and right movement of the wearing robot 1-1.

Specifically, the RWS (130) is coupled to the one-axis mounting frame (150-1) to provide a space for assembly of parts, while being vertically mounted on the fixing bracket (131) and fixing bracket (131) formed in a “c” shape to move up and down. While being combined with the block 137, a pair of first and second rods (133a, 133b) formed of a pair of first and second rods (133a, 133b) wrapped around the vertical guide rod 133 to provide an elastic repulsive force according to the vertical motion. 1, 2, a uniaxial elastic member 135 made of elastic members 135a, 135b, a vertical movement block 137 that enables uniaxial motion for the wearing robot 1-1 connected by the support link 2 Is composed.

In particular, the RWS 130 has a counter balance effect on the vertical motion by using the fixing bracket 131, the vertical guide rod 133, the one-axis elastic member 135, and the vertical movement block 137 as the same components. It is divided into a left RWS (130A) and a right RWS (130B) that generate a balancing effect.

In this way, the RWS 130 uses a counter-balancing effect while linking the vertical motion provided by the 1-axis motion with the walking motion of the wearing robot 1-1 connected via the support link 2 Robot weight compensation prevents the weight of the robot from acting as a load.

Specifically, the two-axis motion supporter 140 is a two-axis elastic member that is coupled to the horizontal guide rod 141 and the horizontal guide rod 141 coupled to the two-axis mounting frame 150-2 to generate a horizontal translation movement ( 143), while supporting one side of the biaxial elastic member 143, the horizontal moving block 145 moving in the left and right movement direction by coupling with the horizontal guide rod 141, while supporting the other side of the biaxial elastic member 143 It is connected to the body adjuster 147 and body adjuster 147 that move in the left and right movement direction by coupling with the guide rod 141, and when moving left and right, it contacts the support link 2 of the wearing robot (1-1) to prevent movement. It consists of a limiting stopper 148, and an auxiliary spring 149 that provides a spring reaction force to the body adjuster 147.

”형상으로 착용 로봇(1-1)의 안쪽 공간으로 돌출된다. 상기 스토퍼(148)는 바디 어저스터(147)의 이동 로드(141a)의 결합부위에 고정된 상태에서 바디 어저스터(147)를 벗어난 길이로 돌출된다.In particular, when the body adjuster 147 is coupled to the moving rod 141a to support the other side of the biaxial elastic member 143, “

It protrudes into the inner space of the wearing robot (1-1) in shape. The stopper 148 protrudes to a length outside the body adjuster 147 while being fixed to the coupling portion of the moving rod 141a of the body adjuster 147.

”형상 바디 어저스터(147)와 상기 우측 수평 모션 서포터(140B)의 “

”형상 바디 어저스터(147)는 서로 대향됨으로써 “

”형상으로 착용 로봇(1-1)의 안쪽 공간을 점유하고, 착용 로봇(1-1)의 안쪽 공간에서 트레이니(100)의 사이즈 차이를 흡수하여 준다.Therefore, the “in the left horizontal motion supporter 140A”

“Shape body adjuster 147 and “of the right horizontal motion supporter 140B”

“The shape body adjusters 147 face each other so that “

”The shape occupies the inner space of the wearing robot 1-1 and absorbs the difference in size of the Trainee 100 in the inner space of the wearing robot 1-1.

In particular, the two-axis motion supporter 140 includes a horizontal guide rod 141 and a two-axis elastic member 143, a left and right movement block 145, a body adjuster 147, a stopper 148, and an auxiliary spring 149. It is divided into a left horizontal motion supporter 140A and a right horizontal motion supporter 140B using the same components.

In this way, the 2-axis motion supporter 140 generates a translational motion that assists the left and right movement of the walking motion in the opposite direction in the inner space of the wearing robot 1-1, thereby generating the weight of the trainee caused by unstable horizontal movement. It stabilizes central movement, and provides voluntary gait training and high gait training effect by stable center of gravity movement of the wearing robot (1-1).

Meanwhile, the operation of the operation-oriented walking automation robot system 1000 of FIG. 1 is a user interface 2000 of a system user (eg, a rehabilitation therapist) for the wearing robot 1-1 and a robot controller 1-3. Enter information (eg, body size value) of the Trainee 100 and set the walking training intensity -> The robot length adjuster (1-8) following the release of the robot height adjuster (1-6) and the robot locker (4) ) Through the operation of optimizing the setting for the trainee 100 (see FIGS. 3 to 5) -> for the trainee 100 through the operation of the winch compensation traction device 10-2 of the BWS 1 Ready for gait training -> Ready for gait training for Trainee 100 using RWS (130) and 2-axis motion supporter (140) -> BWS (1) / RWS (130) / 2-axis motion supporter (140) It is performed by a system operation procedure such as performing gait training for the used trainee 100 -> collecting trainee training information through an additional system. Here, “->” indicates the flow procedure of the operation sequence.

In this case, the system operation procedure is only an example, and the procedure may be omitted or the order may be changed according to a system user (eg, a rehabilitation therapist) or a system setting state.

8 and 9 exemplify gait training preparation / gait training preparation completion / gait training performed by the BWS (1) / RWS (130) / 2 axis motion supporter 140 during the system operation procedure.

Referring to the initial winch position (a) by the BWS (1) of Figure 8 (a), the winch (21) of the winch compensation traction device (10-2) is not made the initial winch position (a) is a winch ( 21) is lowered to the maximum, while the winch balancer 23 is raised to the maximum, and the reflector 47 is in a state in which the unit weight combination of the weight 27 is fixed. At this time, the information of the infrared sensor 45 measuring the distance of the reflector 47 is stored in the weight data map of the data processor 49 as the training intensity information of the trainee.

Referring to the setting winch position (b) by the BWS (1) of Fig. 8 (b), the setting winch position (b) in which the winch 21 of the winch compensation traction device 10-2 is operated is the trayny 100 ) Of the winch wire (21-1) connected to the harness (50), the winch (21) is raised to the maximum by the distance between the winch plate (33) and the sensor plate (35), while the winch balancer (23) ) Goes down to the maximum.

Referring to the training winch position (c) by the BWS (1) of FIG. 8 (c), the training winch position (c) at which the winch compensation traction device (10-2) stops after the operation of the winch (21) is The walking motion of the Trainee 100 is made while the foot is in contact with the floor by the Weight Balance Effect through the compensation of the Trainee's weight in (27). At this time, the winch 21 moves up and down with the main post 31 responding to the walking motion of the trainee 100 using the training winch position (c) as the vertical movement area from the initial winch position (a), while the winch balance The standing 23 offsets the weight of the winch structure including the winch 21 that can be applied to the trainee 100 by moving in the opposite direction of the winch 21.

Referring to Figure 9, the left / right RWS (130A, 130B) of the RWS (130) provides a counter-balancing effect (Counter-Balancing Effect) for the working robot (1-1) and a counter-force minimization effect according to the vertical motion. And, the left/right horizontal motion supporters 140A and 140B of the two-axis motion supporter 140 perform a translational movement for the robot 1-1 to stabilize the center of gravity movement and adjust the body size of the trainee. to provide.

For example, the counter balance action is implemented by buffering/absorbing the weight exerted by the wearing robot 1-1 by the uniaxial elastic member 135 of the left/right RWS 130A and 130B with an elastic force. The reverse force generation minimization action is the first and second elastic members 135a, 135b constituting the uniaxial elastic member 135 when the left/right RWS 130A, 130B follow the vertical movement of the wearing robot 1-1. ) Of the compression/tension change. The translational movement is implemented by a change in compression/tension of the biaxial elastic member 143 that causes the left and right movement in the opposite direction to the horizontal movement of the wearing robot 1-1.

”형상을 벌리거나 좁혀 구현되고, 좌우측 수평 모션 서포터(140A,140B)의 간격 증가나 감소는 2축 탄성부재(143)의 압축/인장 변화로 흡수된다.For example, the size adjustment of the left and right horizontal motion supporters 140A, 140B

”It is implemented by spreading or narrowing the shape, and the increase or decrease of the spacing of the left and right horizontal motion supporters 140A and 140B is absorbed by the change in compression/tension of the biaxial elastic member 143.

As described above, the walking automation robot system 1000 according to the present embodiment generates a walking motion by placing it in the front position of the treadmill 1-5 that reproduces the walking speed, and Wearing robot (1-1) with the overall length as the robot boarding movement line, BWS (BWS) that performs weight compensation by adjusting the force balance between the harness 50 and the weight 23 placed on the side of the wearing robot (1-1). 1), a 2-degree of freedom manual mechanism device 120 that is placed behind the wearing robot 1-1 and performs translational movement of up/down/left/right movement and counter balance for the walking motion Improvement of the user's side is achieved by improving the space utilization of the building by shortening and reducing the system occupied space, and in particular, automation of robot length/height/width adjustment for body shape fit while using camera/torque sensor/force sensor to determine training effect. The system is improved together.

1000: walking automation robot system 1: BWS (Body Weight Support)
1-1: wearing robot 2: support link
3: joint link 3A: hip joint
3B: knee joint joint 4: robot locker
1-2: P-bar 5: support frame
6: force sensor
1-3: robot controller 1-4: display
1-5: Treadmill 1-6: Robot height adjuster
7: motor
7A: belt 8: ball screw rod
8A, 8B: Guide rod 9: Adjuster frame
9-1: Indicator
1-7: remote control 1-8: robot withdrawal controller
1-9: camera
10-1: support frame 10A: wire roller
10-2: Winch compensation traction device 20: Self-weight compensation winch
21: winch (Winch) 21-1: winch wire
21-1A: Harness connection end 23: Winch Balancer
23-1: Winch balancer wire
27: weight weight 29: weight weight connecting rod
30: Winch motion guider
31: main post (Post) 33: winch plate
35: sensor plate 37: sub post
37-1: post bracket 39: side plate
40: winch sensor 40-1: winch top position sensor
40-2: Winch lower position sensor
40-3: weight detection sensor 41: position sensor target
43: photo sensor 45: infrared sensor
47: reflector 49: data processor
50: Harness
100: Traine 100-1: Wheelchair
120: 2 degrees of freedom manual mechanism device 130: RWS (Robot Weight Support)
130A,130B: Left and right RWS
131: fixing bracket 133: vertical guide rod
133a, 133b: first and second rod 135: one-axis elastic member
135a, 135b: first and second elastic members
137: vertical movement block 137a: connection flange
140: 2-axis motion supporter 140A,140B: left and right horizontal motion supporter
141: horizontal guide rod 141a: moving rod
141b: support rod 143: biaxial elastic member
145: left and right movement block 147: body adjuster
148: stopper 149: auxiliary spring
150: motion supporter frame 150-1: 1-axis mounting frame
150-2: 2-axis mounting frame 150-3: frame connecting member
151: robot withdrawal guider 152: guider block
153: 1-axis frame bracket 2000: user interface

Claims (16)

Wearing robots that have joint links to the left and right and generate a walking motion;
A setting system supporting the wearing robot so that the joint link is positioned toward an entrance of a treadmill that reproduces a walking speed;
A training system that assists in walking motion through up/down/left/right movement so that the walking motion is continued;
An additional system for detecting and storing the walking motion as walking training data and accumulating it as training information;
A walking automation robot system, characterized in that it is included.
The walking automation robot system according to claim 1, wherein the wearing robot includes a hip joint and a knee joint at the joint link.
The walking automation robot system according to claim 1, wherein the setting system and the training system are located opposite the entrance of the treadmill.
The walking automation robot system according to claim 1, wherein the setting system is connected to the wearing robot by a motion supporter frame.
The walking automation robot system according to claim 4, wherein the setting system includes a robot height adjuster connected to the motion supporter frame, and the robot height adjuster adjusts a vertical height of the wearing robot.
The walking automation robot system according to claim 5, wherein the robot height adjuster raises the one-axis frame bracket of the motion supporter frame by using the rotational force of the motor to the linear movement force of the ball screw rod.
The walking automation robot according to claim 4, wherein the setting system comprises a robot withdrawal controller connected to the training system via the motion supporter frame, and the robot withdrawal controller adjusts the withdrawal length of the wearing robot. system.
The walking automation robot system according to claim 7, wherein the robot withdrawal controller adjusts the withdrawal length of the wearing robot by moving the guider block of the training system along the robot withdrawal guider of the motion supporter frame.
The walking automation according to claim 1, wherein the training system includes a body weight support (BWS) that compensates for the additional weight of the harness applied to the harness through a weight balance effect using a combination of a winch and a weight. Robot system.
The method according to claim 1, wherein the training system includes a Robot Weight Support (RWS) that assists in the walking motion through an up-and-down motion using a counter-balancing effect of a uniaxial elastic member made of a spring. Walking automation robot system.
The walking automation robot system according to claim 1, wherein the training system includes a two-axis motion supporter that assists in the walking motion through a left-right motion using a left-right translational motion of a two-axis elastic member made of a spring.
The walking automation robot system according to claim 1, wherein the additional system comprises at least one of a P-bar, a robot controller, a display, a remote control, and a camera.
The method according to claim 12, wherein the P-bar is located in front of the wearing robot to the left and right sides of the treadmill, the robot controller is located in front of the wearing robot to one side of the treadmill, the display and the camera An automated walking robot system, characterized in that located outside the treadmill in front of the wearing robot.
The automated walking robot system according to claim 12, wherein the P-bar is provided as a load support means, and includes a force sensor to detect the strength of the load.
The gait automation of claim 12, wherein the robot controller controls the display, the treadmill, the camera, the wearing robot, the setting system, and the training system so that the gait training data is detected and stored. Robot system.
The walking automation robot system according to claim 12, wherein the remote control generates an operation signal by wire or wirelessly.

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